roboto.domain.topics.ros2_decoder

Module Contents

roboto.domain.topics.ros2_decoder.make_ros2_decoder_factory()

Build a ROS2 decoder factory with the Roboto perf patch applied.

The patch (see roboto._mcap_ros2_perf_patch) caches the dynamically constructed message class per schema, which avoids rebuilding a SimpleNamespace subclass and re-stringifying the schema definition on every message. Every consumer of mcap_ros2.decoder.DecoderFactory in this codebase should go through this helper so the patch is installed before the first decode. apply() is idempotent and cheap on subsequent calls (a single module-attribute check).

Return type:

mcap_ros2.decoder.DecoderFactory